Robot Off-line Programming Reachability Analysis
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Solution Overview
Problem
Robot off-line programming systems face challenges in determining the reachability of targets due to limited working range, leading to suboptimal machining effects and increased time and cost in system building.
Innovation Solution
A method and apparatus that utilize inverse kinematics calculations and human-machine interface to assess target reachability by considering positions, orientations, tool geometry, and tool position, providing an intuitive preview of reachable targets and allowing for adjustments in robot orientation to optimize the robot path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robot path is generated based on basic settings like machining surface parameters and tool settings, then robot path with several targets is generated, but some targets cannot be reached by the robot to process assuming certain postures due to limited working range
Solution Approach 1:
The system performs preliminary inverse kinematics calculations to determine robot reachability for each target before actual machining. By calculating the relationship between robot rotation angles and target reachability in advance, the system identifies which targets can be reached and adjusts the path planning accordingly, preventing unreachable targets from being included in the final machining path.
Solution Approach 2:
The system changes the robot's rotation angle parameter to expand its working range. By calculating target reachability across various rotation angles (e.g., from 0 to 360 degrees) and adjusting the robot's orientation, the system enables the robot to access targets that would otherwise be outside its limited working range, thereby increasing the number of reachable targets.
2Manufacturing precision
If robot path is generated without considering target reachability, then path generation is simple, but machining effects and accuracy are affected
Solution Approach 1:
The system performs self-evaluation by automatically calculating whether each target is reachable by the robot given its current rotation angle and working range. This self-check mechanism identifies unreachable targets and triggers automatic path adjustment, ensuring machining accuracy without requiring external manual verification or complex external systems.
Solution Approach 2:
The system implements a feedback loop where inverse kinematics calculations provide information about target reachability, which is then used to adjust the robot path. The system continuously evaluates reachability based on robot rotation angles and modifies the path to include only reachable targets, ensuring machining accuracy through this closed-loop feedback mechanism.
3Productivity
If robot path includes unreachable targets, then complete coverage is achieved, but unexpected time and cost is required to build the robot system
Solution Approach 1:
The system performs preliminary inverse kinematics calculations to determine robot reachability for each target before actual machining. By calculating the relationship between robot rotation angles and target reachability in advance, the system identifies which targets can be reached and adjusts the path planning accordingly, preventing unreachable targets from being included in the final machining path.
Data Source
AI summary
A robot off-line programming method. The method includes: respectively obtaining a first data representing positions and orientations of the plurality of targets on at least one work piece, a second data representing position of the at least one work piece, a third data representing geometry of a tool, and a fourth data representing the tool position and orientation with respect to an end of the robot; obtaining the robot path for which the tool tip passes through the plurality of the targets on the at least one work piece; using a function of an inverse kinematics for the robot model in consideration of the first data, the second data, the third data and the fourth data, calculating how many of the targets on the obtained robot path are reachable to the tool in relation to various rotation angle of the tool around the tool axis within a predetermined range so as to comply with optimization criteria. With the automatic calculation and intuitive preview, users could get to know directly about how many targets can be processed actually on a robot path. If the reachability is unsatisfied, the users could also have chances to modify the settings to obtain a more reasonable and precise path. An apparatus for implementing the method is also disclosed.